=> What I get: if before running the program I manually turn the motor to a certain position, and then run the program, the motor behaves like that” first, it makes a fast movement to a certain “initial” position, and after that it executes the program and turns by 30 degrees.

I just realised that this function will be removed for the next release. Instead our own PID will be used- I will keep you posted. In the meantime I think workaround is to place On(0) before you start moving the motor.

I think that you sould forget about the On() will be replace by one function call SetSpeed. MovTo will be replaced by our own PID controller (which can be tuned for depending on the load you have on the motors).

For motor position you should stick to the SpeedProfileStep function. Hope this makes sense

I think I just found the answers to my previous question. I just found that the output of the display tricked me as the last two digits of the tacho count were clipped. So I think it’s safe to say that the tacho-count shows the number of steps which is the same as degrees.

About the Ultrasonic-output, I think the explanation is as simple as there is a comma missing. It should be 36,1 and 111,1 cm